Transmission of haptic input

ABSTRACT

A method for use in a system comprising a transmitting haptic device, comprising a first haptic presentation device having an original set of haptic presentation properties, and a receiving haptic device, comprising a second haptic presentation device having a set of haptic presentation properties, said method comprising receiving haptic content in said transmitting haptic device; obtaining an alignment point for the haptic content according to said original haptic presentation properties; transmitting the haptic content to said second haptic device; obtaining a corresponding point to said alignment point according to the set of haptic presentation properties for the receiving haptic device; and presenting the haptic content in the receiving haptic device at the corresponding point.

TECHNICAL FIELD

This application relates to a haptic telecommunications device, a methodand a computer-readable storage medium for improved transmission oftactile input.

BACKGROUND

Haptic, such as tactile or kinaesthetic, communication recreates thesense of touch by applying forces, vibrations, or motions to the user,which is commonly known as the tactile internet or haptic internet. Thisphysical stimulation can be used to assist in the creation of virtualobjects in a computer simulation, to control such virtual objects, andto enhance the remote control of machines and devices. Haptic devicesmay incorporate haptic sensors that measure forces exerted by the useron a user interface such as a haptic display. There are two sensorysystems related to sense of touch in humans: kinaesthetic andtactile/cutaneous. For the purpose of this application they will all bereferred to as being haptic and will be associated with active touch tocommunicate or recognize objects.

The haptic/tactile internet is seen as the next step in mobilenetworking. Users are currently able to efficiently communicate overvoice and video, but in the future networked society it is envisionedthat people will be able to communicate the sense of touch via hapticpresentation devices. In the past years, there has been a large amountof research on devices which allow such communication to take place.Several new haptic devices are being developed, particularly ones thatare able to be worn by the user such as gloves, vests, but alsointegrated in smartphones and smartwatches. New low cost mobile hapticpresentation devices, are currently being developed by several companiessuch as Microsoft (NormalTouch and Texture Touch), Neurodigital(GloveOne), Tactai (Tactai Touch) for augmented reality and virtualreality applications. Various haptic actuator technologies are alsobeing used such as ultrasound (e.g. ultrahaptics), vibrohaptic (e.g.Apple's Macbook), electrostatic, piezoelectric (e.g. TPad smartphone)and mechanical (e.g., MIT's Inform 3D displays).

With the advent of the 5G (fifth generation) telecommunications systems,it is envisioned that many telecommunication devices will be providedwith haptic input and/or output means, such as haptic displays.

As is known, many different kind of telecommunication devices existtoday, such as smartphones, internet tablets, gaming devices, and(laptop) computers to mention a few. All these have different physicalcharacteristics, both between the categories and also inside eachcategory. For example, smartphones are available in all different sizes,having a wide range of differently sized displays available.

Several solutions for handheld devices consider the interaction with auser interface (buttons, sliders, etc.) or they provide haptic feedbackwith respect to the image which is being displayed in the device'stouchscreen. In other use cases, two users using a haptic presentationdevice may transmit the sense of touch to each other by interacting withthe display in real-time. Each user receives haptic feedback withrespect to the haptic properties (e.g. texture, friction, stiffness) ofthe user interface, image, object or the other user's finger on aspecific location since the device is capable of tracking the user'sfinger position. The TPad smartphone is the first haptic smartphone andhas been commercialized by a US startup since 2015. The phone is builtupon a Motorola android phone with a piezoelectric actuated screen ontop of it, which is able to generate various friction and textureeffects via vibration.

The inventors of the inventions to be discussed herein, has, afterinsightful and inventive reasoning, envisioned and realized that therewill be a problem in communicating haptic input/output, from hereaftercalled haptic data, as one haptic telecommunications device (atelecommunications device arranged with haptic input and/or outputmeans) may not have the same type of haptic presentation device.Especially, if a haptic display is used, there may be a difference insize of the haptic presentation device of two haptic telecommunicationsdevices communicating with one another. Haptic input received on onedevice may then be distorted when being presented on the second haptictelecommunications devices.

Consider the case where two users A and B want to perform hapticcommunications with each other using each a mobile device (e.g.smartphone, tablet, smartwatch, etc.), where each device is able toprovide haptic feedback to each user, such as when the user touches thedisplay with his/her finger(s).

In one scenario, user A may place its finger on top of its device'sdisplay, and the finger of user A is to be “haptically rendered” inuser's B display, so that user B can feel the finger of user A.Similarly, users may be interacting via a game (e.g., users can perceiveeach other's touches and their joint interaction when manipulatingobjects) or may be performing remote teaching (e.g. user A teaching userB how to write).

The methods in the art do not consider the situation where the twohaptic presentation devices have different capabilities. Such problemshave been realized, identified and envisioned by the inventors of theteachings herein as will be discussed in greater detail below. To somedegree, these problems resemble those of displaying web pages oninternet devices having differently sized screens. In one type of suchsystems, the content to be displayed is scaled to fit the receivingdisplay. In one type of such systems, the content to be displayed isrearranged to fit the receiving display.

The inventors have realized that as haptic data comprises both alocation and a touch, such scaling is not possible without distortingthe haptic data. Also, rearranging the haptic data will lead to adistortion of the haptic data, rendering it incorrect, with respect tolocation and/or size.

In view of the problems and shortcomings indicated above, there is aneed for an improved manner of transmitting haptic data from one haptictelecommunications device to another haptic telecommunications devicehaving different haptic output properties.

SUMMARY

The inventors of the present invention have realized, after inventiveand insightful reasoning that there are envisioned problems as more andmore haptic presentation devices come to the market as discussed aboveand below.

This invention proposes a method to infer and display haptic or hapticexploration and non-exploration regions in display devices with hapticfeedback capabilities when performing haptic communication between(multiple) users.

It is therefore an object of the teachings of this application toovercome or at least mitigate one or more of the problems andshortcomings listed above and below by providing a method for use in asystem comprising a transmitting haptic device, comprising a firsthaptic presentation device having an original set of haptic presentationproperties, and a receiving haptic device, comprising a second hapticpresentation device having a set of haptic presentation properties, saidmethod comprising receiving haptic content in said transmitting hapticdevice; obtaining an alignment point for the haptic content according tosaid original haptic presentation properties; transmitting the hapticcontent to said second haptic device; obtaining a corresponding point tosaid alignment point according to the set of haptic presentationproperties for the receiving haptic device; and presenting the hapticcontent in the receiving haptic device at the corresponding point.

In one embodiment the alignment point and/or (either one or both) thecorresponding alignment points are obtained by being received as a pointof touch of a respective user.

In one embodiment the alignment point and/or the corresponding alignmentpoints are obtained by being determined based on the extension andlocation of the haptic content.

It is also an object of the teachings of this application to overcome orat least mitigate one or more of the problems and shortcomings listedabove and below by providing a method for presenting haptic informationon a haptic presenter configured to operate according to hapticpresentation properties, said method comprising

receiving the haptic content, wherein the haptic content is alignedaccording to original haptic presentation properties;

obtaining an alignment position according to said original hapticpresentation properties;

obtaining a corresponding position according to the haptic presentationproperties based on an alignment position according to said originalhaptic presentation properties; and

presenting the haptic content at the corresponding position, wherein thepresented haptic content corresponds to the received haptic content.

It is also an object of the teachings of this application to overcome orat least mitigate one or more of the problems and shortcomings listedabove and below by providing a haptic device for presenting hapticinformation comprising a haptic presenter configured to operateaccording to haptic presentation properties and a controller configuredto: receiving the haptic content, wherein the haptic content is alignedaccording to original haptic presentation properties; obtaining analignment position according to said original haptic presentationproperties; obtaining a corresponding position according to the hapticpresentation properties based on an alignment position according to saidoriginal haptic presentation properties; and presenting the hapticcontent at the corresponding position, wherein the presented hapticcontent corresponds to the received haptic content.

It is also an object of the teachings of this application to overcome orat least mitigate one or more of the problems and shortcomings listedabove and below by providing a method for use in a haptic device forreceiving and transmitting haptic information comprising a hapticpresenter configured to operate according to haptic presentationproperties, said method comprising: receiving haptic content; obtainingan alignment point for the haptic content according to said originalhaptic presentation properties; and transmitting the haptic content to asecond haptic device.

It is also an object of the teachings of this application to overcome orat least mitigate one or more of the problems and shortcomings listedabove and below by providing a haptic device for receiving andtransmitting haptic information comprising a haptic presenter configuredto operate according to haptic presentation properties and a controllerconfigured to: receive haptic content; obtain an alignment point for thehaptic content according to said original haptic presentationproperties; and transmit the haptic content to a second haptic device.

It is also an object of the teachings of this application to overcome orat least mitigate one or more of the problems and shortcomings listedabove and below by providing a computer readable storage medium encodedwith instructions that, when executed on a processor, perform the methodaccording to herein.

Other features and advantages of the disclosed embodiments will appearfrom the following detailed disclosure, from the attached dependentclaims as well as from the drawings. Generally, all terms used in theclaims are to be interpreted according to their ordinary meaning in thetechnical field, unless explicitly defined otherwise herein. Allreferences to “a/an/the [element, device, component, means, step, etc.]”are to be interpreted openly as referring to at least one instance ofthe element, device, component, means, step, etc., unless explicitlystated otherwise. The steps of any method disclosed herein do not haveto be performed in the exact order disclosed, unless explicitly stated.

BRIEF DESCRIPTION OF DRAWINGS

The invention will be described in further detail under reference to theaccompanying drawings, in which:

FIG. 1A shows a schematic overview of a haptic telecommunications deviceaccording to one embodiment of the teachings of this application;

FIG. 1B shows a schematic overview of the components of a haptictelecommunications device according to one embodiment of the teachingsof this application;

FIG. 2A shows a schematic view of an example haptic telecommunicationsdevice system according to one embodiment of the teachings of thisapplication;

FIG. 2B shows a schematic view of an example haptic telecommunicationsdevice experiencing envisioned problems according to an aspect of theteachings of this application;

FIG. 3 shows a schematic view of an example haptic telecommunicationsdevice system according to one embodiment of the teachings of thisapplication;

FIG. 4 shows a flowchart for a general method of controlling atelecommunications device according to the teachings herein;

FIG. 5 shows a schematic view of an example haptic telecommunicationsdevice system according to one embodiment of the teachings of thisapplication;

FIG. 6 shows a schematic view of an example haptic telecommunicationsdevice system according to one embodiment of the teachings of thisapplication; and

FIG. 7 shows a schematic view of a computer-readable medium according tothe teachings herein.

DETAILED DESCRIPTION

The disclosed embodiments will now be described more fully hereinafterwith reference to the accompanying drawings, in which certainembodiments of the invention are shown. This invention may, however, beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided by way of example so that this disclosure will be thorough andcomplete, and will fully convey the scope of the invention to thoseskilled in the art. Like numbers refer to like elements throughout.

FIG. 1A shows a schematic overview of haptic telecommunications device100 according to one embodiment of the present invention. The haptictelecommunications device may be a robotic tool, a smartwatch, asmartphone, an internet tablet, a gaming device, or a (laptop) computer.In the following the haptic telecommunications device will beexemplified as being a smartphone 100.

In this disclosure, the term “haptic telecommunication device”, “hapticdevice”, etc. are used, and should be construed as a device capable ofhaptic, e.g. tactile or kinaesthetic, communication, sensing, and/orrendering.

The haptic telecommunications device 100 comprises a haptic presentationdevice 110 being able to output and/or receive haptic data. On exampleof such a haptic presentation device is a haptic display 110.

The haptic display 110 may be a touch display where a portion isarranged for receiving input of haptic data and for outputting hapticdata. For the purpose of this application, the haptic display 110 ofsuch an embodiment, the haptic display will be regarded as the portionof a touch display that is arranged for portion is arranged forreceiving input of haptic data and for outputting haptic data, and thusalso be a part of a user interface of the haptic telecommunicationsdevice 100.

The haptic display 110 is used as a touch sensitive display where a userprovides input by touching the screen, however, not only the location ofthe touch is comprised in the received haptic data, but also the kind oftouch, such as the pressure, the size of the touch and possibly also thetexture or roughness (friction) of the touch. To output such hapticdata, the haptic display is changed to purvey the kind of touch at thelocation of the touch. It should be noted that throughout thisapplication tactile and haptic will be used interchangeably, but referto the same manner of providing haptic data, namely input/output thatcan be felt at a specific location.

In FIG. 1A the display 110 is configured to present or display one ormore objects A, B, C, D, F. The objects may be visual objects and/orhaptic objects. The objects A-F may be associated with a function, suchthat when an object is selected and/or activated the associated functionis executed. The user interface of the haptic device 100 may alsocomprise physical keys 120. In FIG. 1A a single key is shown, but itshould be understood that any number of physical keys may be useddepending on the design of the haptic device 100.

The display 110 has a display area defined by a horizontal extension Lx1and a vertical extension Ly1, thereby providing the area Lx1×Ly1. Thedisplay area is an example of haptic presentation properties. Other suchhaptic presentation properties relate to the resolution of the display110. The resolution and/or the actual size of the display 110 may thusbe comprised in the haptic presentation properties.

The haptic telecommunications device 100 may also comprise other inputmeans such as one or several buttons or keys 120, being virtual and/orphysical, perhaps part of a traditional touch display. As a skilledperson would understand, many options exist and this application willnot go into detail about all possible combinations, but only give anexample of one button 120, but it should be understood that manyvariations exist and are all considered to be represented by the button120. FIG. 1B shows a schematic view of the components of a haptic device100. A controller CPU is configured to control the overall and alsospecific functions of the haptic device 100 such as by executingcomputer program instructions loaded into or stored on a memoryconnected or being part of the controller. The controller may compriseone or more processors or other logic programmable circuits for combinedor individual execution of a task or application. However, for thepurpose of this application they will be seen as being the one and samecontroller CPU. The controller CPU is connected to a memory MEM forstoring computer instructions and also data to be processed by thecomputer instructions when executed by the controller CPU. The memorymay comprise one or several memory circuits, possibly arranged in ahierarchy. One or more of such memory circuits may be comprised in thecontroller CPU. For the purpose of this application the memory circuitswill be regarded as one memory MEM.

The controller CPU is also connected to a user interface UI forreceiving input from a user and for presenting data or other informationto the user. As discussed above, a haptic display is comprised in theuser interface UI.

The controller is also connected to a communications interface COM, suchas a Radio frequency interface. The RF interface may be configured tooperate according to a long range standard, such as a cellular networkstandard, for example a 5G standard. The RF interface may alternativelyor additionally be configured to operate according to a short rangestandard, such as a Bluetooth®, IEEE802.11b (WiFi™), IEEEE802.16,ZigBee™ or NFC™ (Near Field Communication) standard, for example a 5Gstandard.

The communications interface COM enables a first haptic device 100 tocommunicate with a second haptic device (referenced 100A and 100B inFIG. 2 and as will be discussed in greater detail with reference to FIG.2) for receiving and/or transmitting visual and haptic data.

FIG. 2A shows a communication system in which a first haptic device 100is communicating (as indicated by the dashed arrows) with a secondhaptic device 100A. The first haptic device 100 is also shown ascommunicating (as indicated by the dashed arrows) with another secondhaptic device 100B. The first haptic device 100 may be a haptic device100 as disclosed with reference to FIG. 1A and FIG. 1B. Either of thesecond haptic devices 100A, 100B may also be a haptic device 100 asdisclosed with reference to FIG. 1A and FIG. 1B.

FIGS. 2A and 2B show problem situations that the inventors of thepresent application have identified and realized that the problems ofFIG. 2A may occur. As discussed above, the haptic device 100 isconfigured to transmit and/or receive both visual (or graphic) contentas well as haptic content.

FIG. 2A shows how the graphical content is traditionally displayed whenbeing transmitted from the first haptic device 100 to a second hapticdevice 100A, 100B having different display capabilities. As can be seenfrom FIG. 2A, the second haptic device 100A has a different display sizeLx2×Ly2 than that of the first haptic device 100. In this example, thedisplay 110A of the second haptic device 100A is smaller than thedisplay 110 of the first haptic device 100 in both extensions, but itshould be noted that any variance (bigger/smaller) in any or bothextensions is possible and fall under the scope of this invention.

The other second haptic device 100B also has a display 110B havingdifferent display size than that of the first haptic device 100.

As the visual content is transmitted from the first haptic device 100 tothe second haptic device 100A, the second haptic device 100A may beconfigured to simply rearrange the graphical content, i.e. the objectsA-F, according to the display size of the display 110A of the secondhaptic device 100A. As is seen in FIG. 2A, the second haptic device 100Adisplays the objects A-F in a 2×3 matrix, instead of a 3×2 matrix as isdone by the first haptic device 100.

Alternatively or additionally, and as the other second haptic device100B is configured to, the second haptic device 100B scales thegraphical objects A-F according to the display size of the display 110Bof the second haptic device 100B. A simple scaling factor may bedetermined as S=(Sx;Sy), where Sx=Lx3/Lx1 and Sy=Ly3/Ly1 and anycoordinate for the display 110B of the second haptic device 100B may bedetermined by multiplying the scaling factor with the correspondingcoordinate for the display 110 of the first haptic device 100.

However, the inventors have realized and discovered that thestraightforward manner of adapting visual or graphic content does notwork equally well when transmitting haptic content as will be shown inFIG. 2B showing a same communication system as in FIG. 2A, but wherehaptic content is also shown. For example, if haptic content is inputthrough the display 110 of the first haptic device 100, as indicated bythe oval circle referenced T, the haptic content would be distorted ifrearranged as the graphical content being presented on the second hapticdevice 100A.

The haptic content T received may be seen as overlapping the object C.In such an instance a rearrangement would result in a hapticpresentation T1 overlapping C, which results in a distorted hapticcontent as the haptic content now also overlaps object E.

The haptic content T received may be seen as overlapping the object F.In such an instance a rearrangement would result in a hapticpresentation T2 overlapping F, which results in a distorted hapticcontent as the haptic content now also overlaps object D.

The haptic content T received may be seen as overlapping two objects, Cand F. In such an instance a rearrangement would result in a hapticpresentation T3 overlapping both C and F, which results in a distortedhaptic content in that the shape and extension is changed.

The haptic content T received may be seen as being received in the upperright corner. In such an instance a rearrangement would result in ahaptic presentation T4 overlapping B and possibly also D, which resultsin a distorted haptic content as the haptic content now overlaps objectsB and D and not C and/or F.

The rearrangement that is useful for graphical content is thus notuseful for haptic content.

Similarly, as is shown by the first haptic device 100 transmittinghaptic content to the other second haptic device 100B, the scaling thatis useful for graphical content is also not useful for haptic content.

If the haptic content is scaled according to the scaling factor S, theresulting haptic content TB will be distorted as it will differ in sizefrom the haptic content T of the first haptic device 100. If the hapticcontent T is the impression of for example a finger, the resultinghaptic content TB may not be identifiable as a finger as its size may betoo small (or large).

To overcome this problem, that the inventors have realized, a simplesolution is presented by the inventors, namely to separate thetransformation or adaptation of the graphical content from theadaptation of the haptic content.

FIG. 3 shows a communication system wherein a first haptic device 100 iscommunicating with a second haptic device 100A. The first haptic device100 and the second haptic device 100A may both or either be a hapticdevice 100 as in FIG. 1A and FIG. 1B.

As in FIG. 2B a haptic object T is received (through the UI or throughthe communication interface to be presented through the UI) at aposition (DX;DY).

As the haptic object is to be transferred to another device, analignment point AP is obtained by the controller. In one embodiment thealignment point is obtained as the point of initial touch for a userinteraction.

In one embodiment the alignment point is obtained by being determined bythe controller such as being. The AP may correspond to the graphicalcentre of gravity of the haptic object T, such as indicated in FIG. 3 bythe coordinates (DX;DY). In such an embodiment, the alignment point iseasy to align in the rescaled presentation. In one embodiment thealignment point may correspond to a corner of the haptic content T, suchas a lower left corner. In such an embodiment, the alignment point iseasily determined as the first coordinates for the haptic object.

In one embodiment the alignment point may correspond to an upper edge ofthe haptic content T. In such an embodiment, the alignment pointrepresents what the user is most likely aiming at.

The alignment point may be obtained by the transmitting first device100. The alignment point may also be obtained by the receiving secondhaptic device 100A.

If the alignment point is obtained by the sending haptic device 100 itmay be transmitted along with the haptic object, and/or it may betransmitted upon a query from the second haptic device 100A.

In one embodiment the second haptic device 100A receiving the hapticcontent is configured to present the haptic content at a positioncorresponding to an alignment point APA, where the correspondingalignment point corresponds to a point whose coordinates are scaledcoordinates for the original haptic content T. In FIG. 3 thecorresponding or scaled alignment point APA I located at the coordinates(XA;YA)=S(DX;DY)=(Sx×DX; Sy×DY) or (XA=Sx*DX;YA=SY*DY).

In one embodiment the second haptic device 100A receiving the hapticcontent is configured to present the haptic content at correspondingalignment point APA, where the receiving device is configured to obtainthe alignment point as a point of (initial or current) touch of a userof the receiving device.

It should be noted that in such an embodiment, the received hapticcontent may be transmitted without any alignment point. The hapticcontent may also be presented without any scaling, the only adaptationof the haptic content being that it is presented at an alignment pointselected by the receiving user, not by the transmitting user.

In such an embodiment, the user of the transmitting device thus inputhis haptic content and an alignment point is obtained. As stated above,it may be obtained as the initial point of touch, or it may bedetermined by the controller. The haptic content is then transmitted tothe receiving device, which may obtain the corresponding alignment pointby receiving the current or initial touch of the user of the receivingdevice. The transmitted haptic content will then be presented at thepoint where the receiving user is touching.

The second device 100B may further be configured to present or displayany graphical content by scaling the graphical content both with regardsto the position and the extension of the graphical content.

It should be noted that in such embodiment where the alignment point andthe graphical content are scaled, moved or translated, and not theextension of the haptic content, the haptic content will remain true toits form and not be shapewise distorted. And as the alignment point orposition of the haptic content is scaled in the same manner as thegraphical content the haptic content is also not distorted with regardsto what objects it overlaps or is adjacent to.

Any haptic object in the haptic content will thus be presented true toits form, i.e. TA=T in all respects apart from its (absolute) position.

The alignment point may be determined for one haptic object, as in FIG.3, or it may be for a group of haptic objects, wherein their individualrelative distances may be scaled. In one embodiment, a group of hapticobjects may be regarded and treated as one haptic object, and theindividual relative distances be maintained.

FIG. 4 shows a flowchart for a general method according to herein forpresenting haptic information on a haptic presenter (such as a hapticdisplay) configured to operate according to a presenter (display) size.The size may be represented by a coordinate system such as a resolution,but it may also or alternatively be represented by a physical sizerepresentation. The haptic device 100 receives 410 the haptic content(from memory, from a UI, or from a communications interface), whereinthe haptic content is aligned according to an original presenter size,as an example of a presenter property. Graphic content is also received415. An alignment position according to said original presenter size forthe haptic content is obtained 420. The alignment point may be obtainedby being received or by being calculated.

A corresponding position according to said receiving presenter size isalso obtained 430. The corresponding position is defined as a scaledversion of the alignment position according to the original presentersize. The corresponding alignment point may be obtained by beingreceived or by being calculated. If the corresponding alignment point isobtained by being received, the reception of the alignment pointaccording to the original presenter size is optional.

The graphic content is adapted 435 (rearranged and/or scaled) based onthe properties of the sending presentation device to fit the receivingpresentation device. The haptic device then presents 440 the hapticcontent at the corresponding position, wherein the presented hapticcontent corresponds to the received haptic content and also presents 445the adapted graphic content.

As disclosed in the above the haptic presentation properties may relateto a physical size of the display, an orientation of the display and/ora resolution of the display 110 including any combination thereof orpartially thereof.

A scaling when relating to the physical size would thus be based on thephysical sizes of the displays 110, 110A. Similarly, a rearrangementwhen relating to the physical size would thus be based on the physicalsizes of the displays 110, 110A.

A scaling when relating to the resolution would thus be based on thephysical sizes of the displays 110, 110A. Similarly, a rearrangementwhen relating to the resolution would thus be based on the physicalsizes of the displays 110, 110A.

A scaling when relating to the orientation would thus be based on thephysical sizes of the displays 110, 110A. Similarly, a rearrangementwhen relating to the orientation would thus be based on the physicalsizes of the displays 110, 110A.

To phrase differently, the object to be displayed in the device is basedon a visual model (representing the graphical content) and a hapticmodel (representing the haptic content). The visual model is for examplean image, video or computer generated graphics. A haptic model iscomposed by geometric and physical properties of the object, which aremapped into the visual model of the object. The geometric propertiesfollow directly from the pixels (2D) or voxels (3D) of theimage/video/graphics, while the physical properties (e.g., stiffness,friction, temperature, texture, etc.) are typically encoded in each ofthe pixels or voxels, or regions of pixels or voxels, for the 2D or 3Dcase, respectively.

As also discussed above, in the event the object model dimensions (i.e.according to the original presentation properties) are larger than thedevice display, a scaling of the visual model is proposed. In an exampleembodiment, the visual model is scaled to fit the display. In anotherexample embodiment, the visual model is scaled in a way that all theobject area is inside the display, but the distance between the displayedge and the object contour is set to a minimum distance D mm. In thisway, one is able to have D mm on the side of the object to be providedwith haptic feedback via the display. Accordingly, a given scalingfactor S is used to convert the non-scaled visual model into the scaledvisual model.

The object is displayed according to the scaled object model asdescribed above.

For the haptic content, a user finger input may be measured and itsposition in the display (X,Y), is related to the position (Xv′,Yv′) inthe scaled visual model, which corresponds to position (Xv,Yv) in thenon-scaled visual model, given the scaling factor S.

The haptic feedback is given to the user at position (X0,Y0), thealignment point, in the display coordinates, based on the haptic modelat position (Xv,Yv) (corresponding to the corresponding point). Hence,as the user moves in any direction, the haptic feedback will alwayscorrespond to the unscaled haptic model.

A translation of (dX, dY) with respect to the initial position of theuser finger in the display, corresponds to the user finger located atposition (X0+dX,X0+dY) in the display coordinates. This corresponds toposition (Xv+dX,Yv+dY) in the haptic model coordinate system. In such anembodiment, the translation of the haptic content is not scaledpreserving the haptic input true to its original form and also movement.

In one embodiment, any translation of the haptic content is adapted inthe same manner as the corresponding point is determined based on thealignment point. In such an embodiment, the translation may thus resultin a scaled translation and/or a rearranged translation.

A scaled translation is determined as a scaling of the translation basedon the original haptic presentation properties and the hapticpresentation properties of the receiving haptic device. This enables thehaptic content to maintain its position with regards to surroundingobjects.

A rearranged translation enables the haptic movement to end or follow atan object that the haptic content moves to or by in the originalpresentation.

FIG. 5 shows a schematic view of a communication system where a firsthaptic communications device 100 transmits graphic and haptic content toa second communications device 100A and third haptic communicationsdevice 100B, where the haptic content is translated. As can be seen, thetranslation of the haptic content may be scaled as when transmittingfrom the first haptic communications device 100 to the second hapticcommunications device 100A. Here the translation has been scaled so thatthe haptic content translates from the same (object C) and to the sameobjects (object D).

As can also be seen, the translation of the haptic content may also oralternatively be rearranged as when transmitting from the first hapticcommunications device 100 to the third haptic communications device100B. Here the translation has been rearranged so that the hapticcontent translates from the same (object C) and to the same objects(object D).

In one embodiment, the translation is adapted in the same manner as thecorresponding alignment point based on the alignment point and thepresentation properties.

As has been discussed in the above, the alignment point and thecorresponding alignment points may be determined as the point of touchof a device's user.

The alignment point of the haptic content being received at thetransmitting device provides an origin for the haptic content, wheredescriptors of the haptic content are given relative the alignmentpoint. The alignment point of the receiving device is then received asthe point that should be the new origin for the haptic content and alldescriptors of the haptic content are given relative the correspondingalignment point.

In such an embodiment, the content may also be scaled as in thedescription above to accommodate for different display sizes.

FIG. 6 shows a schematic view of a communication system where a firsthaptic communications device 100 transmits graphic and haptic content toa second communications device 100A and third haptic communicationsdevice 100B. The haptic content T is received at a point where a user'sfinger (or other object) touches the display 110. The alignment pointfor the transmitting device is then obtained as the point of touch ofthe user of the transmitting device. In this example the touch of pointis at a location corresponding to object C.

The second and third device, i.e. the receiving devices, also obtaintheir alignment points by receiving a point of touch of their respectiveusers. The haptic content is consequently presented at those pointswhich in the case of the second device 100A is at a locationcorresponding to object C and in the case of the third device 100B is ata location corresponding to object D.

The haptic devices are thus enabled to present the haptic content,scaled or unscaled, at a position where a user is touching which ensuresthat the haptic content is perceived by the receiver.

The haptic model could contain different haptic sensations related toe.g. size, shape, mass, texture and stiffness of physical objects,surfaces, etc. When the model allows these to be separately rendered,they may have different scaling factors. For example, while the user hasnot yet triggered an alignment point but still explores thehaptic/visual model a scaled haptic model representing the size andshape of objects corresponding to the visual scaled model. When the usertriggers an alignment point the unscaled haptic model is used forrealistic texture and stiffness of objects.

Triggering of alignment point can be done in several ways.

One trigger is when the user touches the display with onefinger/pointing device. Which only allows for one level of scaling ofthe model.

One trigger is when different number of fingers are used to distinguishbetween exploring the scaled or unscaled partial haptic model. Forexample, two fingers used to for scaled haptic model of object size andshape and one finger for triggering the alignment point and exploringthe texture and stiffness.

One trigger is when similar to the above one, but a force sensitivedisplay is used to distinguish between the unscaled and aligned partialhaptic model or the scaled model.

The haptic feedback may not be only provided based on the user fingerposition, but also on the user finger speed and force applied.

The haptic feedback is limited to the display region where hapticfeedback is possible.

FIG. 7 shows a schematic view of a computer-readable medium as describedin the above. The computer-readable medium 70 is in this embodiment adata disc 70. In one embodiment the data disc 70 is a magnetic datastorage disc. The data disc 70 is configured to carry instructions 71that when loaded into a controller, such as a processor such as thecontroller 160 of the haptic telecommunications device 100 of FIGS. 1Aand 1B, execute a method or procedure according to the embodimentsdisclosed above. The data disc 70 is arranged to be connected to orwithin and read by a reading device 72, for loading the instructionsinto the controller. One such example of a reading device 72 incombination with one (or several) data disc(s) 70 is a hard drive. Itshould be noted that the computer-readable medium can also be othermediums such as compact discs, digital video discs, flash memories orother memory technologies commonly used. In such an embodiment the datadisc 70 is one type of a tangible computer-readable medium 70.

The instructions 71 may also be downloaded to a computer data readingdevice 74, such as the controller 160 or other device capable of readingcomputer coded data on a computer-readable medium, by comprising theinstructions 71 in a computer-readable signal 73 which is transmittedvia a wireless (or wired) interface (for example via the Internet) tothe computer data reading device 74 for loading the instructions 71 intoa controller. In such an embodiment the computer-readable signal 73 isone type of a non-tangible computer-readable medium 70. The instructionsmay be stored in a memory (not shown explicitly in FIG. 7, butreferenced 160 in FIG. 1B) of the computer data reading device 74.

The instructions comprising the teachings according to the presentinvention may thus be downloaded or otherwise loaded in to a haptictelecommunications device 100 in order to cause the haptictelecommunications device 100 to operate according to the teachings ofthe present invention.

References to computer program, instructions, code etc. should beunderstood to encompass software for a programmable processor orfirmware such as, for example, the programmable content of a hardwaredevice whether instructions for a processor, or configuration settingsfor a fixed-function device, gate array or programmable logic deviceetc.

The invention has mainly been described above with reference to a fewembodiments. However, as is readily appreciated by a person skilled inthe art, other embodiments than the ones disclosed above are equallypossible within the scope of the invention, as defined by the appendedpatent claims.

1. A method for use in a system comprising a transmitting haptic device,comprising a first haptic presentation device having an original set ofhaptic presentation properties, and a receiving haptic device,comprising a second haptic presentation device having a set of hapticpresentation properties, said method comprising: receiving hapticcontent in said transmitting haptic device; obtaining an alignment pointfor the haptic content according to said original haptic presentationproperties; transmitting the haptic content to said second hapticdevice; obtaining a corresponding point to said alignment pointaccording to the set of haptic presentation properties for the receivinghaptic device; and presenting the haptic content in the receiving hapticdevice at the corresponding point.
 2. The method of claim 1, furthercomprising: receiving graphic content in said transmitting hapticdevice; transmitting the graphic content to said second haptic device;adapting the graphic content according to said original set of hapticpresentation properties and said set of haptic presentation properties;and presenting the graphic content.
 3. The method of claim 1, whereinthe haptic presentation properties relate to a resolution of thecorresponding haptic presenter.
 4. The method of claim 1, wherein thehaptic presentation properties relate to a size of the correspondinghaptic presenter.
 5. The method of claim 1, wherein the hapticpresentation properties relate to an orientation of the correspondinghaptic presenter.
 6. The method of claim 1, wherein the correspondingposition is a scaled version of the alignment position and wherein thegraphic content is adapted according to a scaling based on the hapticpresentation properties and the original haptic presentation properties.7. The method of claim 1, wherein the corresponding position is arearranged version of the alignment position and wherein the graphiccontent is adapted according to a rearrangement based on the hapticpresentation properties and the original haptic presentation properties.8. The method according to claim 1, wherein the alignment point isobtained as a point of touch of a user of the transmitting device. 9.The method according to claim 1, wherein the alignment point isdetermined as a position for the haptic content.
 10. The methodaccording to claim 1, wherein the corresponding alignment point isobtained as a point of touch of a user of the receiving device.
 11. Themethod according to claim 1, wherein the corresponding alignment pointis determined as a scaled position for the haptic content.
 12. Themethod according to claim 1, wherein the corresponding alignment pointis determined as a rearranged position for the haptic content.
 13. Themethod of claim 1, further comprising scaling a translation of thehaptic content.
 14. The method of claim 1, further comprisingrearrangement of a translation of the haptic content.
 15. The method ofclaim 1, wherein the haptic presenter is a display configured for hapticpresentation.
 16. A method for presenting haptic information on a hapticpresenter configured to operate according to haptic presentationproperties, said method comprising: receiving the haptic content,wherein the haptic content is aligned according to original hapticpresentation properties; obtaining an alignment position according tosaid original haptic presentation properties; obtaining a correspondingposition according to the haptic presentation properties based on analignment position according to said original haptic presentationproperties; and presenting the haptic content at the correspondingposition, wherein the presented haptic content corresponds to thereceived haptic content.
 17. A haptic device for presenting hapticinformation comprising: a haptic presenter configured to operateaccording to haptic presentation properties and a controller configuredto: receive the haptic content, wherein the haptic content is alignedaccording to original haptic presentation properties; obtain analignment position according to said original haptic presentationproperties; obtain a corresponding position according to the hapticpresentation properties based on an alignment position according to saidoriginal haptic presentation properties; and present the haptic contentat the corresponding position, wherein the presented haptic contentcorresponds to the received haptic content.
 18. A method for use in ahaptic device for receiving and transmitting haptic informationcomprising a haptic presenter configured to operate according to hapticpresentation properties, said method comprising: receiving hapticcontent; obtaining an alignment point for the haptic content accordingto said original haptic presentation properties; and transmitting thehaptic content to a second haptic device.
 19. A haptic device forreceiving and transmitting haptic information comprising: a hapticpresenter configured to operate according to haptic presentationproperties: and a controller configured to: receive haptic content;obtain an alignment point for the haptic content according to saidoriginal haptic presentation properties; and transmit the haptic contentto a second haptic device.
 20. A non-transitory computer readablestorage medium encoded with instructions that, when executed on aprocessor, perform a method for use in a system comprising atransmitting haptic device, comprising a first haptic presentationdevice having an original set of haptic presentation properties, and areceiving haptic device, comprising a second haptic presentation devicehaving a set of haptic presentation properties, said method comprising:receiving haptic content in said transmitting haptic device; obtainingan alignment point for the haptic content according to said originalhaptic presentation properties; transmitting the haptic content to saidsecond haptic device; obtaining a corresponding point to said alignmentpoint according to the set of haptic presentation properties for thereceiving haptic device; and presenting the haptic content in thereceiving haptic device at the corresponding point.